Control method, device, control apparatus, and storage medium for linear motor

Abstract

The application provides a control method and device of a linear motor, a control equipment and a storage medium. The method comprises the following steps: acquiring driving voltages of the linear motor at different times and vibration speeds of the linear motor at different times; and generating braking voltages of the linear motor at different times according to the driving voltages of the linear motor at different times and the vibration speeds of the linear motor at different times; wherein the braking voltages of the linear motor are used to control the vibration speed of the linear motor to be less than a preset speed, and the polarity of the braking voltages of the linear motor is opposite to the direction of the vibration speed of the linear motor. In this way, the accuracy and efficiency of the braking of the linear motor can be improved, so that the accurate and rapid braking of the linear motor is realized.

Description

Technical Field

[0001] This application relates to the field of electromechanical control technology, and in particular to a control method, apparatus, control device, and storage medium for a linear motor. Background Technology

[0002] Linear motors are primarily used as vibration devices in electronic products such as mobile phones, watches, and tablets. Their main characteristics are small size, fast start-up, and fast braking, leading to their increasingly widespread application in vibration feedback. In fields such as gaming and virtual reality, it is necessary to ensure that the residual vibration of the linear motor lasts for a short period of time to achieve rapid braking.

[0003] During the braking process of a linear motor, active braking is usually required to stop the vibration as quickly as possible. Therefore, improving the accuracy and efficiency of linear motor braking is an urgent problem to be solved. Summary of the Invention

[0004] In view of this, this application provides a control method, apparatus, control device, and storage medium for a linear motor, which can improve the accuracy and efficiency of linear motor braking, thereby achieving precise and rapid braking.

[0005] In a first aspect, this application provides a control method for a linear motor, comprising: acquiring the driving voltage and vibration velocity of the linear motor at different times; generating a braking voltage of the linear motor at different times based on the driving voltage and vibration velocity of the linear motor at different times; wherein the braking voltage of the linear motor is used to control the vibration velocity of the linear motor to be less than a preset speed, and the polarity of the braking voltage of the linear motor is opposite to the direction of the vibration velocity of the linear motor.

[0006] Secondly, this application provides a control device for a linear motor, comprising: an acquisition module for acquiring the driving voltage and vibration velocity of the linear motor at different times; and a generation module for generating a braking voltage of the linear motor at different times based on the driving voltage and vibration velocity of the linear motor at different times; wherein the braking voltage of the linear motor is used to control the vibration velocity of the linear motor to be less than a preset speed, and the polarity of the braking voltage of the linear motor is opposite to the direction of the vibration velocity of the linear motor.

[0007] Thirdly, this application provides a control device, including: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus; the memory is used to store one or more executable instructions, which cause the processor to execute the method described in the first aspect.

[0008] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the method described in the first aspect.

[0009] Fifthly, this application provides a computer program product including computer program instructions that cause a computer to perform the method described in the first aspect.

[0010] Sixthly, this application provides a computer program that, when run on a computer, causes the computer to perform the method described in the first aspect.

[0011] This application provides a control method, apparatus, control device, and storage medium for a linear motor, capable of generating braking voltages for the linear motor at different times based on the driving voltage and vibration velocity of the linear motor at different times. Thus, braking the linear motor based on the generated braking voltage improves the accuracy and efficiency of braking, thereby achieving precise and rapid braking of the linear motor. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0013] Figure 1 This is a schematic diagram showing the relationship between the driving voltage and vibration velocity of a linear motor.

[0014] Figure 2 This is a schematic flowchart of a linear motor control method provided in an embodiment of this application;

[0015] Figure 3 This is a schematic diagram of the braking voltage and vibration velocity of a linear motor provided in an embodiment of this application;

[0016] Figure 4 This is a schematic diagram of the braking voltage and vibration speed of another linear motor provided in the embodiments of this application;

[0017] Figure 5 This is a schematic diagram of the composition structure of a control device for a linear motor provided in an embodiment of this application;

[0018] Figure 6 This is a schematic diagram of the structure of a control device provided in an embodiment of this application. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and thoroughly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0021] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0022] It should also be noted that the terms "first, second, and third" used in the embodiments of this application are only used to distinguish similar objects and do not represent a specific order of objects. It is understood that "first, second, and third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0023] To facilitate understanding of the technical solutions of the embodiments of this application, the relevant technologies of the embodiments of this application are described below. The following relevant technologies are optional solutions and can be combined with the technical solutions of the embodiments of this application in any way, and they all fall within the protection scope of the embodiments of this application.

[0024] It should be noted that the driving voltage, braking voltage, and vibration speed of the linear motor are mentioned multiple times in the embodiments of this application. The driving voltage, braking voltage, and vibration speed of the linear motor will be briefly introduced below.

[0025] The drive voltage of a linear motor refers to the voltage used to power its normal operation. It is a key factor enabling the linear motor to generate mechanical energy and drive a load. The magnitude and form of the drive voltage depend on the type and specifications of the linear motor, as well as the required operating speed and power. In practical applications, the drive voltage is typically provided by a power supply and adjusted to an appropriate value using circuitry or electronic components to meet the operational needs of the linear motor.

[0026] The braking voltage of a linear motor refers to the voltage applied across the motor during braking. It is a key parameter in linear motor braking systems, typically used to reduce or stop motor vibration. During braking, the braking voltage generates a force opposite to the direction of motor vibration. This force decelerates the motor and eventually stops it from rotating.

[0027] The vibration velocity of a linear motor refers to the speed of the internal oscillator during operation. It is one of the important indicators for measuring the operational stability and performance of a linear motor. The magnitude of the vibration velocity depends on various factors such as the internal structure of the linear motor, the load conditions, the working environment, and the operating speed.

[0028] The main characteristics of linear motors are small size, fast start-up, and fast braking, making them increasingly widely used in vibration feedback applications. In fields such as gaming and virtual reality, it is necessary to minimize the duration of residual vibration in linear motors to achieve rapid braking.

[0029] For example, Figure 1 This is a schematic diagram illustrating the relationship between the driving voltage and vibration velocity of a linear motor. (For example...) Figure 1 As shown, by inputting a drive voltage to the linear motor, the linear motor can vibrate according to this drive voltage. When the drive voltage approaches zero, the linear motor will continue to vibrate due to the inertia of the spring structure, and the amplitude of the vibration gradually decreases. The vibration of the linear motor after the input drive voltage stops is called residual vibration. If a braking voltage is generated immediately at this time, it may cause voltage abrupt changes or harmonics, thus failing to achieve precise and rapid braking, resulting in a poor user experience.

[0030] In related technologies, one approach is to achieve precise and rapid braking by using different frequencies and voltages to increase the braking phase; another approach is to obtain the resonant frequency of the linear motor by monitoring the back electromotive force approaching zero when the linear motor is in free vibration, and then inputting a braking voltage with the resonant frequency and opposite polarity to the back electromotive force into the linear motor to achieve precise and rapid braking.

[0031] However, on the one hand, because the waveform of the driving voltage that achieves the vibration effect has various types of changes in frequency and amplitude, it is impossible to achieve precise and rapid braking in any scenario; on the other hand, if the amplitude of the braking voltage is adjusted incorrectly, there will be a problem of reverse acceleration, which will cause the linear motor to fail to achieve precise and rapid braking, resulting in a poor user experience.

[0032] Furthermore, in practical applications, the driving voltage of a linear motor may not be a continuous signal, but rather a combination of multiple single-frequency driving voltages. In related technologies, braking is only performed after the last driving voltage approaches zero. This results in a longer duration of residual oscillation in the linear motor after at least one driving voltage before the last one approaches zero, leading to a poor user experience.

[0033] Based on this, embodiments of this application provide a control method for a linear motor, which can acquire the driving voltage and vibration velocity of the linear motor at different times; and generate braking voltages for the linear motor at different times based on the driving voltage and vibration velocity of the linear motor at different times; wherein, the braking voltage of the linear motor is used to control the vibration velocity of the linear motor to be less than a preset speed, and the polarity of the braking voltage is opposite to the direction of the vibration velocity of the linear motor. Thus, braking the linear motor based on the generated braking voltage can improve the accuracy and efficiency of the linear motor braking, thereby achieving precise and rapid braking of the linear motor.

[0034] To facilitate understanding of the technical solutions of the embodiments of this application, the technical solutions of this application are described in detail below through specific embodiments. The above-mentioned related technologies are optional solutions and can be arbitrarily combined with the technical solutions of the embodiments of this application, all of which fall within the protection scope of the embodiments of this application. The embodiments of this application include at least some of the following contents.

[0035] Figure 2 This is a flowchart illustrating a linear motor control method provided in an embodiment of this application, as shown below. Figure 2 As shown, the method may include the following steps.

[0036] S210. Obtain the driving voltage and vibration velocity of the linear motor at different times.

[0037] It should be noted that, in the embodiments of this application, the linear motor control method can be applied to a linear motor control device or a control device integrated with the linear motor. The control device can be implemented in various forms, such as touchscreen electronic devices like mobile phones, watches, and tablets.

[0038] In some embodiments, obtaining the drive voltage of the linear motor at different times may include: detecting the drive voltage of the linear motor at different times; or obtaining the drive voltage of the linear motor at different times from stored signal data.

[0039] For example, the drive voltage of a linear motor at different times can be detected by a voltage sensor.

[0040] For example, the stored signal data can refer to the signal data stored in audio format files such as MP3, Waveform (WAV), and Lossless Audio Codec (LAC).

[0041] This method allows us to obtain the driving voltage of a linear motor at different times, providing data support for the subsequent calculation of the braking voltage of the linear motor.

[0042] In some embodiments, obtaining the vibration velocity of a linear motor at different times may include: obtaining the measurement parameters of the linear motor, and calculating the vibration velocity of the linear motor at different times based on the driving voltage of the linear motor at different times and the measurement parameters of the linear motor.

[0043] The measurement parameters of the linear motor include at least one of the following: the oscillator mass of the linear motor, the drive current of the linear motor at different times, the resonant angular frequency, the DC resistance, the inductance, the electromechanical coupling coefficient, the quality factor, and the sampling rate.

[0044] It should be understood that the following embodiments provide several implementation methods for calculating the vibration velocity of a linear motor at different times. It is understood that, in addition to the implementation methods provided in the following embodiments, the vibration velocity of a linear motor at different times can also be calculated in other ways, and this application does not limit this. The following describes several implementation methods for calculating the vibration velocity of a linear motor at different times.

[0045] One possible implementation involves considering the linear motor's driving voltage u at different times, driving current i at different times, oscillator mass m, DC resistance R, inductance L, electromechanical coupling coefficient Bl, resonant angular frequency ω0, and quality factor Q. ts Using at least some of the measured parameters, calculate the vibration velocity v of the linear motor at different times, where n is the time.

[0046] The formulas for calculating the vibration velocity v of a linear motor at different times in the complex frequency domain (i.e., the S-domain) are shown below:

[0047]

[0048] It can be understood that the vibration velocity v of a linear motor at different times can be regarded as the driving voltage u at different times passing through a second-order filter H(s).

[0049] The formulas for calculating the vibration velocity v of a linear motor at different times in the frequency domain (i.e., the Z-domain) are shown below:

[0050]

[0051] in:

[0052]

[0053] num1 = 0,

[0054]

[0055] This method calculates the vibration velocity of a linear motor at different times by using the driving voltage and measured parameters of the linear motor at different times. Subsequently, the braking voltage can be calculated based on the vibration velocity to achieve braking of the linear motor.

[0056] Another possible implementation method is to use the linear motor's driving voltage u at different times, the motor's driving current i at different times, and the sampling rate f. s Given DC resistance R, inductance L, and electromechanical coupling coefficient Bl, calculate the vibration velocity v of the linear motor at different times.

[0057] For example, the difference between the drive current i(n) and i(n-1) of the linear motor at the current time and the sampling rate f can be used as a reference. s The first parameter value is generated based on the inductance L; the second parameter value is generated based on the driving current i(n) and DC resistance R of the linear motor at the second moment between the two consecutive moments; the third parameter value is obtained by summing the driving voltage u(n), the first parameter value, and the second parameter value of the linear motor at the second moment between the two consecutive moments; the vibration velocity v(n) of the linear motor at the second moment between the two consecutive moments is generated based on the third parameter value and the electromechanical coupling coefficient Bl.

[0058] The vibration velocity v(n) of the linear motor at the second of two consecutive moments can be calculated using the following formula:

[0059] v(n)=(u(n)-i(n)*Rf s *(i(n)-i(n-1))L) / (Bl) (3)

[0060] Where the first parameter value is f s The second parameter is *(i(n)-i(n-1))L, and the third parameter is u(n)-i(n)*Rf. s *(i(n)-i(n-1))L.

[0061] This method calculates the vibration velocity of a linear motor at different times by using the driving voltage and measured parameters of the linear motor at different times. Subsequently, the braking voltage can be calculated based on the vibration velocity to achieve braking of the linear motor.

[0062] Another possible approach is to directly measure the vibration speed of the linear motor at different times using a speed sensor, thereby improving the efficiency of obtaining the vibration speed of the linear motor.

[0063] Another possible implementation is to calculate the vibration velocity v of the linear motor at different times based on the back electromotive force bemf and the electromechanical coupling coefficient Bl of the linear motor at different times.

[0064] For example, the vibration velocity v(n) of the linear motor at the second of two consecutive moments can be calculated using the following formula:

[0065]

[0066] Using this method, the vibration velocity of the linear motor at different times can be calculated based on the back electromotive force and electromechanical coupling coefficient of the linear motor at different times. Subsequently, the braking voltage can be calculated based on the vibration velocity to achieve braking of the linear motor.

[0067] S220. Based on the driving voltage and vibration velocity of the linear motor at different times, generate the braking voltage of the linear motor at different times.

[0068] The braking voltage of the linear motor is used to control the vibration speed of the linear motor to be less than the preset speed, and the polarity of the braking voltage of the linear motor is opposite to the direction of the vibration speed of the linear motor.

[0069] In some embodiments, generating the braking voltage of the linear motor at different times based on the driving voltage and vibration velocity of the linear motor at different times may include: calculating the duration for which the driving voltage of the linear motor is less than a preset driving voltage based on the driving voltage of the linear motor at different times; if the duration is greater than or equal to the preset duration, detecting whether the vibration velocity of the linear motor after the duration is less than a preset velocity; if the vibration velocity of the linear motor at the current time is detected to be less than the preset velocity, generating the braking voltage of the linear motor after the current time based on the vibration velocity of the linear motor after the current time.

[0070] It should be noted that the preset duration, preset drive voltage, and preset speed can be set according to empirical rules, manually, or in other ways. This application embodiment does not limit these settings.

[0071] For example, the driving voltage of the linear motor is less than the preset driving voltage, which can be understood as the driving voltage of the linear motor approaching 0.

[0072] For example, whether the vibration speed of the linear motor is less than the preset speed can be understood as whether the vibration speed of the linear motor approaches 0.

[0073] It should be noted that if there is a next driving voltage after the current driving voltage, by judging whether the duration of the current driving voltage being less than the preset driving voltage meets the preset condition (i.e., whether it is greater than or equal to the preset duration), it can be determined whether to brake after the current driving voltage is less than the preset driving voltage and the vibration speed is less than the preset speed, instead of waiting until the next driving voltage is less than the preset driving voltage before determining whether to brake. This can reduce the residual vibration of the linear motor after the current driving voltage.

[0074] This method achieves several advantages. First, when the driving voltage is lower than the preset driving voltage, if the vibration speed of the linear motor is detected to be lower than the preset speed, braking is initiated. This avoids sudden changes or harmonics in the braking voltage, thereby quickly stopping the linear motor vibration and improving braking efficiency. Second, by generating the braking voltage of the linear motor based on its vibration speed, the method effectively avoids the problem of reverse acceleration caused by incorrect adjustment of the braking voltage amplitude. This enables the linear motor to achieve precise and rapid braking, improving the user experience. Third, if the duration of the linear motor's driving voltage being lower than the preset driving voltage is greater than or equal to the preset duration, and the braking voltage is generated when the vibration speed of the linear motor is lower than the preset speed at the current moment, then even if there is a next driving voltage after this driving voltage, rapid braking can still be achieved after the driving voltage is lower than the preset driving voltage. This reduces the residual vibration of the linear motor after this driving voltage, demonstrating strong adaptability and robustness.

[0075] In some embodiments, the time period following the current moment includes a first moment and a second moment, and the first moment is before the second moment. Generating the braking voltage of the linear motor after the current moment based on the vibration velocity of the linear motor after the current moment may include: obtaining the vibration velocity of the linear motor at the first moment and the vibration velocity at the second moment; generating a first initial braking voltage of the linear motor based on the vibration velocity of the linear motor at the first moment and a first adjustment factor; and generating a second initial braking voltage of the linear motor based on the vibration velocity of the linear motor at the second moment and the second adjustment factor; and accumulating the first initial braking voltage and the second initial braking voltage to obtain the braking voltage of the linear motor at the second moment.

[0076] It should be noted that the first adjustment factor and the second adjustment factor are in opposite directions, which can improve the braking efficiency of the linear motor and make the braking of the linear motor smoother, avoiding noise from the linear motor during braking.

[0077] For example, let the first adjustment factor be denoted as g, the second adjustment factor as h, and the braking voltage of the linear motor at the second moment as u_br(j). Assuming that the first moment and the second moment differ by one moment, the braking voltage u_br(j) of the linear motor at the second moment can be calculated by the following formula (where j is the moment):

[0078] u_br(j)=h·v(j)+g·v(j-1) (5)

[0079] Where v(j) is the vibration velocity of the linear motor at the second moment, and v(j-1) is the vibration velocity of the linear motor at the first moment; the first initial braking voltage is g·v(j-1), and the second initial braking voltage is h·v(j).

[0080] It is understandable that the first and second adjustment factors can be referred to as braking coefficients. The larger the absolute value of the second adjustment factor, the larger the braking voltage, the faster the braking speed, and the faster the vibration speed will be lower than the preset speed.

[0081] For example, in Figure 3 and Figure 4 In, such as Figure 3 As shown, h is set to -20 and g is set to 5; Figure 4 As shown, h is set to -50 and g is set to 5. It can be seen that in... Figure 3 and Figure 4 The position marked by the rectangle in the middle. Figure 3 The braking voltage is less than Figure 4 The braking voltage, therefore Figure 3 The linear motor reduces its vibration velocity to near zero after three cycles, while Figure 4 The linear motor reduces the vibration speed to near zero after 1.5 cycles.

[0082] This method generates the braking voltage of the linear motor after the current moment based on the vibration velocity of the linear motor after the current moment. This improves the accuracy of the braking voltage and effectively avoids the problem of reverse acceleration caused by incorrect adjustment of the braking voltage amplitude. As a result, the linear motor can achieve precise and rapid braking, thus improving the user experience.

[0083] In some embodiments, the time period following the current moment further includes a third moment and a fourth moment, with the third moment preceding the fourth moment and following the second moment. The method may further include: detecting whether the braking voltage of the linear motor after the current moment is less than a preset braking voltage; and if the braking voltage of the linear motor after the third moment is detected to be less than the preset braking voltage and the time interval between the third moment and the fourth moment is less than a preset interval, setting the braking voltage of the linear motor after the third moment to zero.

[0084] The fourth moment is the moment when the next driving voltage after the driving voltage is greater than or equal to the preset driving voltage.

[0085] It should be noted that the preset interval and preset braking voltage can be set according to empirical rules, manually, or in other ways. This application embodiment does not limit this.

[0086] For example, whether the braking voltage of the linear motor is less than the preset braking voltage can be understood as whether the braking voltage of the linear motor approaches 0.

[0087] It is understandable that, in order to avoid the braking voltage from superimposing with the next stage of driving voltage, it is necessary to perform a braking early termination judgment. That is to say, during the braking process, by calculating the time interval between the third moment and the fourth moment when the braking voltage is less than the preset braking voltage, if the time interval is less than the preset interval, it means that the braking voltage may superimpose with the next stage of driving voltage. At this time, the braking voltage after the third moment can be directly set to zero, thereby ending the braking early.

[0088] By using this method, when the braking voltage is detected to be less than the preset braking voltage at the third moment, and the time interval from the fourth moment is less than the preset interval, the braking voltage after the third moment can be directly set to zero, thus avoiding the superposition of the braking voltage with the next stage of driving voltage. This can prevent the braking performance of the control equipment from deteriorating and improve the hardware lifespan of the control equipment.

[0089] Furthermore, if the duration is less than the preset duration, no braking voltage for the linear motor is generated during the time interval between the current moment and the fourth moment.

[0090] For example, the driving voltage of the linear motor is greater than or equal to the preset driving voltage, which can be understood as the driving voltage of the linear motor not approaching 0.

[0091] It is understandable that if the duration is less than the preset duration, it means that the next stage of the linear motor drive voltage was input within the preset duration. In this case, we can wait until the next stage of the drive voltage is less than the preset drive voltage before determining whether to brake. This can avoid frequent braking, which would reduce the braking performance of the control equipment and improve the service life of the control equipment hardware.

[0092] For example, the vibration speed of the linear motor is less than the preset speed, which can be understood as the vibration speed of the linear motor approaching 0.

[0093] It should be noted that during the braking process of a linear motor, in order to generate braking torque, the polarity of the braking voltage needs to be changed so that the braking voltage generates a reverse electromotive force opposite to the direction of the linear motor's vibration speed, thereby slowing down the linear motor's vibration speed.

[0094] It is understandable that after the driving voltage of a linear motor falls below the preset driving voltage, the linear motor will continue to vibrate due to the inertia of its spring structure. In other words, the linear motor will generate residual vibration after the input driving voltage stops. Since the duration of this residual vibration can be relatively long, generating a braking voltage immediately after the driving voltage falls below the preset driving voltage could lead to voltage spikes or harmonics, resulting in high-frequency noise that affects the user experience. Therefore, by detecting whether the vibration speed of the linear motor is lower than the preset speed after the driving voltage falls below the preset driving voltage, and initiating braking only after the vibration speed falls below the preset speed, the voltage spikes or harmonics caused by immediately generating a braking voltage can be avoided, improving braking accuracy and efficiency, and preventing high-frequency interference.

[0095] In some embodiments, the frequency of the braking voltage of the linear motor is the resonant frequency of the linear motor; or, the frequency of the braking voltage of the linear motor is determined according to the spring stiffness coefficient of the linear motor.

[0096] For example, let f0 be the frequency of the braking voltage of the linear motor and the resonant frequency of the linear motor. According to the relationship between the resonant frequency f0 and the resonant angular frequency w0 of the linear motor: w0=2πf0, and the relationship between the spring constant k and the resonant angular frequency w0: The following relationship can be obtained between the spring constant k and the frequency f0 of the braking voltage:

[0097] k = m(2πf0) 2 (6)

[0098] This method matches the frequency of the braking voltage of the linear motor with the resonant frequency of the linear motor, or determines the frequency of the braking voltage based on the spring stiffness coefficient of the linear motor. This can cause less impact and wear on the mechanical structure of the linear motor, and the energy of the braking voltage can be used to quickly and effectively stop the vibration of the linear motor, thereby improving braking efficiency.

[0099] This application provides a control method for a linear motor, which can acquire the driving voltage and vibration velocity of the linear motor at different times; and generate braking voltages for the linear motor at different times based on the driving voltage and vibration velocity of the linear motor at different times. The braking voltage is used to control the vibration velocity of the linear motor to be less than a preset speed, and the polarity of the braking voltage is opposite to the direction of the vibration velocity of the linear motor. Thus, braking the linear motor based on the generated braking voltage can improve the accuracy and efficiency of the linear motor braking, thereby achieving precise and rapid braking of the linear motor.

[0100] Furthermore, in applications such as gaming, virtual reality, and mechanical manufacturing, the technical solutions provided in this application can quickly reduce the residual vibration of linear motors, thereby providing a better user experience.

[0101] The preferred embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this application, various simple modifications can be made to the technical solutions of this application, and these simple modifications all fall within the protection scope of this application. For example, the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this application will not describe the various possible combinations separately. Furthermore, various different embodiments of this application can also be arbitrarily combined, as long as they do not violate the spirit of this application, they should also be considered as the content disclosed in this application. Moreover, without conflict, the various embodiments and / or the technical features in the various embodiments described in this application can be arbitrarily combined with the prior art, and the resulting technical solutions should also fall within the protection scope of this application.

[0102] It should also be understood that, in the various method embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0103] Based on the same inventive concept as the foregoing embodiments. Figure 5 This is a schematic diagram of the composition structure of a control device for a linear motor provided in an embodiment of this application, as shown below. Figure 5 As shown, the linear motor control device 600 may include an acquisition module 610 and a generation module 620, wherein:

[0104] The acquisition module 610 is used to acquire the driving voltage and vibration velocity of the linear motor at different times.

[0105] The generation module 620 is used to generate the braking voltage of the linear motor at different times based on the driving voltage and vibration velocity of the linear motor at different times.

[0106] The braking voltage of the linear motor is used to control the vibration speed of the linear motor to be less than the preset speed, and the polarity of the braking voltage of the linear motor is opposite to the direction of the vibration speed of the linear motor.

[0107] In some embodiments, such as Figure 5 As shown, the linear motor control device 600 may further include a calculation module 630 and a detection module 640, wherein:

[0108] The calculation module 630 is used to calculate the duration during which the driving voltage of the linear motor is less than the preset driving voltage, based on the driving voltage of the linear motor at different times.

[0109] The detection module 640 is used to detect whether the vibration speed of the linear motor is less than the preset speed after the duration is greater than or equal to the preset duration.

[0110] The generation module 620 is also used to generate a braking voltage of the linear motor after the current moment based on the vibration speed of the linear motor after the current moment when the vibration speed of the linear motor at the current moment is detected to be less than a preset speed.

[0111] In some embodiments, the acquisition module 610 is further configured to acquire the measurement parameters of the linear motor; the calculation module 630 is further configured to calculate the vibration velocity of the linear motor at different times based on the driving voltage of the linear motor at different times and the measurement parameters of the linear motor; wherein the measurement parameters of the linear motor include at least one of the following: the oscillator mass of the linear motor, the driving current of the linear motor at different times, the resonant angular frequency, the DC resistance, the inductance, the electromechanical coupling coefficient, the quality factor, and the sampling rate.

[0112] In some embodiments, such as Figure 5 As shown, the linear motor control device 600 may further include an accumulation module 650, wherein:

[0113] The generation module 620 is also used to generate a first parameter value based on the difference in drive current, sampling rate and inductance of the linear motor in the two time periods before and after the current time; and to generate a second parameter value based on the drive current and DC resistance of the linear motor in the latter time period.

[0114] The accumulation module 650 is used to accumulate the driving voltage, the first parameter value and the second parameter value of the linear motor in the latter of two time moments to obtain the third parameter value.

[0115] The generation module 620 is also used to generate the vibration velocity of the linear motor at the second of two consecutive moments based on the third parameter value and the electromechanical coupling coefficient.

[0116] In some embodiments, the acquisition module 610 is further configured to acquire the vibration velocity of the linear motor at a first moment and the vibration velocity at a second moment; the generation module 620 is further configured to generate a first initial braking voltage of the linear motor based on the vibration velocity of the linear motor at the first moment and a first adjustment factor; and to generate a second initial braking voltage of the linear motor based on the vibration velocity of the linear motor at the second moment and a second adjustment factor; the accumulation module 650 is further configured to accumulate the first initial braking voltage and the second initial braking voltage to obtain the braking voltage of the linear motor at the second moment; wherein, the time period after the current moment includes the first moment and the second moment, and the first moment is before the second moment.

[0117] In some embodiments, such as Figure 5 As shown, the linear motor control device 600 may further include a setting module 660, wherein:

[0118] The detection module 640 is further configured to detect whether the braking voltage of the linear motor after the current moment is less than the preset braking voltage; the setting module 660 is further configured to set the braking voltage of the linear motor after the third moment to zero when it is detected that the braking voltage of the linear motor at the third moment is less than the preset braking voltage and the time interval between the third moment and the fourth moment is less than the preset interval; wherein, the fourth moment is the moment when the next driving voltage after the driving voltage is greater than or equal to the preset driving voltage, the time interval after the current moment includes the third moment and the fourth moment, and the third moment is before the fourth moment and after the second moment.

[0119] In some embodiments, the frequency of the braking voltage of the linear motor is the resonant frequency of the linear motor; or, the frequency of the braking voltage of the linear motor is determined according to the spring stiffness coefficient of the linear motor.

[0120] In some embodiments, the generation module 620 is further configured to not generate the braking voltage of the linear motor during the time interval between the current time and the fourth time if the duration is less than a preset duration; wherein the fourth time is the time when the next driving voltage after the driving voltage is greater than or equal to the preset driving voltage, and the fourth time is after the current time.

[0121] In some embodiments, the detection module 640 is further configured to detect the driving voltage of the linear motor at different times; or, the acquisition module 610 is further configured to acquire the driving voltage of the linear motor at different times from the stored signal data.

[0122] In the embodiments of this application, the braking voltage of the linear motor at different times can be generated based on the driving voltage and vibration velocity of the linear motor at different times. Thus, braking the linear motor based on the generated braking voltage improves the accuracy and efficiency of the linear motor braking, thereby achieving precise and rapid braking of the linear motor.

[0123] Those skilled in the art should understand that the description of the linear motor control device in the embodiments of this application can be understood with reference to the description of the linear motor control method in the embodiments of this application.

[0124] Figure 6 This is a schematic diagram of the structure of a control device provided in an embodiment of this application. The control device may include: a processor 710, a communication interface 720, a memory 730 storing a program 750, and a communication bus 740.

[0125] The processor 710, communication interface 720, and memory 730 communicate with each other via communication bus 740.

[0126] The communication interface 720 is used to communicate with other control devices or servers.

[0127] The processor 710 is used to execute program 750, specifically to perform the relevant steps in the above method embodiments.

[0128] Specifically, program 750 may include program 750 code, which includes one or more executable computer operation instructions.

[0129] The processor 710 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0130] Memory 730 is used to store one or more executable instructions. Memory 730 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as one or more disk storage devices.

[0131] One or more executable instructions may be used to cause the processor 710 to execute the methods provided in the embodiments of this application.

[0132] Furthermore, the specific implementation of each step in one or more executable instructions can be found in the corresponding descriptions of the steps and units in the above method embodiments, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0133] This application also provides a computer-readable storage medium for storing computer programs.

[0134] In some embodiments, the computer-readable storage medium can be applied to the control device in the embodiments of this application, and when the computer program is executed by one or more processors, it implements the corresponding processes implemented by the control device in the various methods of the embodiments of this application. For the sake of brevity, it will not be described in detail here.

[0135] This application also provides a computer program product, including computer program instructions.

[0136] In some embodiments, the computer program product can be applied to the control device in the embodiments of this application, and the computer program instructions cause the computer to execute the corresponding processes implemented by the control device in the various methods of the embodiments of this application. For the sake of brevity, they will not be described in detail here.

[0137] This application also provides a computer program.

[0138] In some embodiments, the computer program can be applied to the control device in the embodiments of this application. When the computer program is run on a computer, it causes the computer to execute the corresponding processes implemented by the control device in the various methods of the embodiments of this application. For the sake of brevity, it will not be described in detail here.

[0139] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0140] It should be noted that, in this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0141] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0142] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0143] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0144] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0145] The above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. A control method of a linear motor, characterized by, include: Obtain the driving voltage and vibration velocity of the linear motor at different times; Based on the driving voltage and vibration velocity of the linear motor at different times, the braking voltage of the linear motor at different times is generated. The braking voltage of the linear motor is used to control the vibration speed of the linear motor to be less than a preset speed, and the polarity of the braking voltage of the linear motor is opposite to the direction of the vibration speed of the linear motor. The step of generating the braking voltage of the linear motor at different times based on the driving voltage and vibration velocity of the linear motor at different times includes: calculating the duration for which the driving voltage of the linear motor is less than a preset driving voltage based on the driving voltage of the linear motor at different times; if the duration is greater than or equal to the preset duration, detecting whether the vibration velocity of the linear motor after the duration is less than a preset velocity; if the vibration velocity of the linear motor at the current time is detected to be less than the preset velocity, generating the braking voltage of the linear motor after the current time based on the vibration velocity of the linear motor after the current time.

2. The method of claim 1, wherein, The step of obtaining the vibration velocity of the linear motor at different times includes: The measurement parameters of the linear motor are obtained, and the vibration velocity of the linear motor at different times is calculated based on the driving voltage of the linear motor at different times and the measurement parameters of the linear motor. The measurement parameters of the linear motor include at least one of the following: the oscillator mass of the linear motor, the drive current of the linear motor at different times, the resonant angular frequency, the DC resistance, the inductance, the electromechanical coupling coefficient, the quality factor, and the sampling rate.

3. The method of claim 2, wherein, The step of calculating the vibration velocity of the linear motor at different times based on the driving voltage of the linear motor at different times and the measured parameters of the linear motor includes: The first parameter value is generated based on the difference in drive current of the linear motor between two moments before and after the current time period, the sampling rate, and the inductance. The second parameter value is generated based on the drive current and DC resistance of the linear motor at the latter of the two time points. The driving voltage, the first parameter value, and the second parameter value of the linear motor at the second time of the two consecutive time points are accumulated to obtain the third parameter value. Based on the third parameter value and the electromechanical coupling coefficient, the vibration velocity of the linear motor at the second of the two time points is generated.

4. The method according to claim 1, characterized in that, The time period following the current moment includes a first moment and a second moment, and the first moment is before the second moment. Generating the braking voltage of the linear motor after the current moment, based on the vibration velocity of the linear motor after the current moment, includes: The vibration velocity of the linear motor at a first moment and at a second moment are obtained. A first initial braking voltage for the linear motor is generated based on the vibration velocity of the linear motor at the first moment and a first adjustment factor; and a second initial braking voltage for the linear motor is generated based on the vibration velocity of the linear motor at the second moment and a second adjustment factor. The first initial braking voltage and the second initial braking voltage are accumulated to obtain the braking voltage of the linear motor at the second moment.

5. The method according to claim 4, characterized in that, The time period following the current moment also includes a third moment and a fourth moment, wherein the third moment is before the fourth moment and after the second moment, and the method further includes: Detect whether the braking voltage of the linear motor after the current moment is less than a preset braking voltage; If it is detected that the braking voltage of the linear motor at the third moment is less than the preset braking voltage, and the time interval between the third moment and the fourth moment is less than the preset interval, the braking voltage of the linear motor after the third moment is set to zero; wherein, the fourth moment is the moment when the next segment of driving voltage after the driving voltage is greater than or equal to the preset driving voltage.

6. The method according to claim 1, characterized in that, The method further includes: If the duration is less than the preset duration, the braking voltage of the linear motor is not generated during the time interval between the current time and the fourth time; wherein, the fourth time is the time when the next driving voltage after the driving voltage is greater than or equal to the preset driving voltage, and the fourth time is after the current time.

7. The method according to claim 1, characterized in that, The frequency of the braking voltage of the linear motor is the resonant frequency of the linear motor; or, the frequency of the braking voltage of the linear motor is determined according to the spring stiffness coefficient of the linear motor.

8. The method according to claim 1, characterized in that, The process of obtaining the drive voltage of the linear motor at different times includes: Detect the drive voltage of the linear motor at different times; or, The driving voltage of the linear motor at different times is obtained from the stored signal data.

9. A control device for a linear motor, characterized in that, include: The acquisition module is used to acquire the driving voltage and vibration velocity of the linear motor at different times. The generation module is used to generate the braking voltage of the linear motor at different times based on the driving voltage and vibration velocity of the linear motor at different times. The braking voltage of the linear motor is used to control the vibration speed of the linear motor to be less than a preset speed, and the polarity of the braking voltage of the linear motor is opposite to the direction of the vibration speed of the linear motor. The generation module is further configured to: calculate the duration during which the driving voltage of the linear motor is less than a preset driving voltage based on the driving voltage of the linear motor at different times; if the duration is greater than or equal to the preset duration, detect whether the vibration speed of the linear motor after the duration is less than a preset speed; if the vibration speed of the linear motor at the current time is detected to be less than the preset speed, generate the braking voltage of the linear motor after the current time based on the vibration speed of the linear motor after the current time.

10. A control device, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store one or more executable instructions that cause the processor to perform the method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by one or more processors, implements the method as described in any one of claims 1 to 8.

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